Performance of two neuro controllers for robot path planning control

Author

Amin, Shamsudin H M ; Ahtiwash, Otman Musa

Author_Institution

Fac. of Electr. Eng., Univ. Teknologi Malaysia, Johor, Malaysia

Volume

3

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1856

Abstract

In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-time, the resulting position and velocity profiles for the investigated neuro-control models showed that, the manipulator could be moved smoothly and accurately. The tracking performance and accuracy are investigated and compared

Keywords

backpropagation; manipulators; neurocontrollers; path planning; backpropagation algorithm; inverse neuro-controller; manipulator; neuro controllers; neuro-emulator neuro-controller; position profile; robot path planning control; tracking performance; velocity profile; Acceleration; Control systems; Manipulators; Neural networks; Nonlinear dynamical systems; Path planning; Robot control; Robot kinematics; Torque control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.570754

Filename

570754